(19)

(11)

EP 2 099 588 A1

(12)

(43) Date of publication: 16.09.2009 Bulletin 2009/38 (21) Application number: 07845409.7 (22) Date of filing: 19.12.2007

(51) International Patent Classification (IPC):  B25J 13/02(2006.01) B25J 13/00(2006.01) B25J 13/08(2006.01) B25J 19/02(2006.01) (86) International application number: PCT/AU2007/001969 (87) International publication number: WO 2008/074081 (26.06.2008 Gazette 2008/26)

(84) Designated Contracting States: AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IS IT LI LT LU LV MC MT NL PL PT RO SE SI SK TR (30) Priority: 19.12.2006 AU 2006907038 P 18.05.2007 AU 2007902660 P 13.07.2007 AU 2007903796 P (71) Applicant: DEAKIN UNIVERSITY Waurn Ponds, VIC 3221 (AU)	(72) Inventors: NAJDOVSKI, Zoran Geelong, VIC 3215 (AU) HORAN, Ben Essendon, VIC 3040 (AU) BHATTI, Asim Highton, VIC 3216 (AU) NAHAVANDI, Saeid Highton, VIC 3216 (AU) (74) Representative: Mertens, Hans Victor  EP&C P.O.Box 3241 2280 GE Rijswijk 2280 GE Rijswijk (NL)